Target Localization and Elliptical Circumnavigation with Bearing Measurements in 2D Space*

Abstract

In order to enable the agent to effectively circum-navigate the target in more complex environments, we study a position estimator and an elliptical circumnavigation controller in 2D space by only employing bearing measurements without knowing the target’s velocity. The stability of the control system with the estimator is proved for both stationary target and dynamic target. Finally, a series of numerical simulations is presented to verify that the algorithm works effectively in both cases.